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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller.  
 <a href="classArTCMCompassRobot.html#details">More...</a></p>

<p><code>#include &lt;ArTCMCompassRobot.h&gt;</code></p>

<p>Inherits <a class="el" href="classArTCM2.html">ArTCM2</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a5ef4e09177fd0c5ef6fe46d279219be0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5ef4e09177fd0c5ef6fe46d279219be0"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ArTCMCompassRobot</b> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="separator:a5ef4e09177fd0c5ef6fe46d279219be0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a968ae4605ef00fb08e089104f23c522f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a968ae4605ef00fb08e089104f23c522f"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandAutoCalibration</b> (void)</td></tr>
<tr class="separator:a968ae4605ef00fb08e089104f23c522f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6edafb857563e779948f7aee7d2780b8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6edafb857563e779948f7aee7d2780b8"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandContinuousPackets</b> (void)</td></tr>
<tr class="separator:a6edafb857563e779948f7aee7d2780b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2bf85e8caf0b96e83e391f9e50a67af"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af2bf85e8caf0b96e83e391f9e50a67af"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandJustCompass</b> (void)</td></tr>
<tr class="separator:af2bf85e8caf0b96e83e391f9e50a67af"><td class="memSeparator" colspan="2">&#160;</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandOff</b> (void)</td></tr>
<tr class="separator:a83cc782c38b4b373c00ad938403df507"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac9c4f9101dea7d114eccdcfee03f7c76"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac9c4f9101dea7d114eccdcfee03f7c76"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandOnePacket</b> (void)</td></tr>
<tr class="separator:ac9c4f9101dea7d114eccdcfee03f7c76"><td class="memSeparator" colspan="2">&#160;</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandSoftReset</b> (void)</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandStopCalibration</b> (void)</td></tr>
<tr class="separator:ac0507d9947c3244cc4846de1864691e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15a21fa1777359897617b0198451f634"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a15a21fa1777359897617b0198451f634"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>commandUserCalibration</b> (void)</td></tr>
<tr class="separator:a15a21fa1777359897617b0198451f634"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classArTCM2"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArTCM2')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArTCM2.html">ArTCM2</a></td></tr>
<tr class="memitem:ae58e769bfd2e321b2e698a8cdfd20ecc inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae58e769bfd2e321b2e698a8cdfd20ecc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>addHeadingDataCallback</b> (<a class="el" href="classArFunctor1.html">ArFunctor1</a>&lt; double &gt; *f)</td></tr>
<tr class="separator:ae58e769bfd2e321b2e698a8cdfd20ecc inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03d68f7ee1b1ee2b6cf876c0908f43af inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a03d68f7ee1b1ee2b6cf876c0908f43af">blockingConnect</a> (unsigned long connectTimeout=5000)</td></tr>
<tr class="memdesc:a03d68f7ee1b1ee2b6cf876c0908f43af inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">If a connection/initialization procedure is required, perform it, wait until data is recieved from the compass, and return true on success, false on failure.  <a href="#a03d68f7ee1b1ee2b6cf876c0908f43af">More...</a><br /></td></tr>
<tr class="separator:a03d68f7ee1b1ee2b6cf876c0908f43af inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadac4c6e5254827cc598dbfab7e671fe inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#aadac4c6e5254827cc598dbfab7e671fe">connect</a> ()</td></tr>
<tr class="memdesc:aadac4c6e5254827cc598dbfab7e671fe inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">If a connection/initialization procedure is required, perform it, and return true on success, false on failure.  <a href="#aadac4c6e5254827cc598dbfab7e671fe">More...</a><br /></td></tr>
<tr class="separator:aadac4c6e5254827cc598dbfab7e671fe inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d354c63ca69759dcef14f7d12a5d1bd"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a1d354c63ca69759dcef14f7d12a5d1bd">getCalibrationH</a> (void) const </td></tr>
<tr class="memdesc:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration H score (See TCM Manual) <br /></td></tr>
<tr class="separator:a1d354c63ca69759dcef14f7d12a5d1bd inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adffff5238710ed005d2b85ad632ddc58"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#adffff5238710ed005d2b85ad632ddc58">getCalibrationM</a> (void) const </td></tr>
<tr class="memdesc:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration M score (See TCM Manual) <br /></td></tr>
<tr class="separator:adffff5238710ed005d2b85ad632ddc58 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c147f489fefc9b0b2180e5121ebe3ca"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a3c147f489fefc9b0b2180e5121ebe3ca">getCalibrationV</a> (void) const </td></tr>
<tr class="memdesc:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the calibration V score (See TCM Manual) <br /></td></tr>
<tr class="separator:a3c147f489fefc9b0b2180e5121ebe3ca inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#acf62aab4d19e4f1924794ea6532d794f">getCompass</a> (void) const </td></tr>
<tr class="memdesc:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the compass heading (-180, 180] degrees.  <a href="#acf62aab4d19e4f1924794ea6532d794f">More...</a><br /></td></tr>
<tr class="separator:acf62aab4d19e4f1924794ea6532d794f inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37ea3f24df1ea8658e200a6a0c788d82 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a37ea3f24df1ea8658e200a6a0c788d82"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>getError</b> (void) const </td></tr>
<tr class="separator:a37ea3f24df1ea8658e200a6a0c788d82 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a02eaefd0ee678b5e01f5d94ba883cd3f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a02eaefd0ee678b5e01f5d94ba883cd3f">getHeading</a> (void) const </td></tr>
<tr class="memdesc:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the compass heading (-180, 180] degrees. <br /></td></tr>
<tr class="separator:a02eaefd0ee678b5e01f5d94ba883cd3f inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef135653337700db560d061cb4722d46"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#aef135653337700db560d061cb4722d46">getPacCount</a> (void)</td></tr>
<tr class="memdesc:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of readings recieved in the last second. <br /></td></tr>
<tr class="separator:aef135653337700db560d061cb4722d46 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a351381b91db9a6ecf47f68df800998f8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a351381b91db9a6ecf47f68df800998f8">getPitch</a> (void) const </td></tr>
<tr class="memdesc:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the pitch (-180,180] degrees. <br /></td></tr>
<tr class="separator:a351381b91db9a6ecf47f68df800998f8 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a01a4ae402073f91a9e79dced2181a301"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a01a4ae402073f91a9e79dced2181a301">getRoll</a> (void) const </td></tr>
<tr class="memdesc:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the roll (-180,180] degrees. <br /></td></tr>
<tr class="separator:a01a4ae402073f91a9e79dced2181a301 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41ebde0196e3b1b7973bd8e7e7f1ed2d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a41ebde0196e3b1b7973bd8e7e7f1ed2d">getTemperature</a> (void) const </td></tr>
<tr class="memdesc:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the temperature (degrees C) <br /></td></tr>
<tr class="separator:a41ebde0196e3b1b7973bd8e7e7f1ed2d inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65b7d3f541cef8f29557d4d43defc255"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a65b7d3f541cef8f29557d4d43defc255">getXMagnetic</a> (void) const </td></tr>
<tr class="memdesc:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field X component (See TCM2 Manual) <br /></td></tr>
<tr class="separator:a65b7d3f541cef8f29557d4d43defc255 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a1aa71f7981d8d3f121b7295688c66 inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72a1aa71f7981d8d3f121b7295688c66"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a72a1aa71f7981d8d3f121b7295688c66">getYMagnetic</a> (void) const </td></tr>
<tr class="memdesc:a72a1aa71f7981d8d3f121b7295688c66 inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field Y component (See TCM2 Manual) <br /></td></tr>
<tr class="separator:a72a1aa71f7981d8d3f121b7295688c66 inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d748cf260579ee8bdbdc8afd59c569b inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d748cf260579ee8bdbdc8afd59c569b"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTCM2.html#a9d748cf260579ee8bdbdc8afd59c569b">getZMagnetic</a> (void) const </td></tr>
<tr class="memdesc:a9d748cf260579ee8bdbdc8afd59c569b inherit pub_methods_classArTCM2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the magnetic field Z component (See TCM2 Manual) <br /></td></tr>
<tr class="separator:a9d748cf260579ee8bdbdc8afd59c569b inherit pub_methods_classArTCM2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>haveCalibrationH</b> () const </td></tr>
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<tr class="memitem:a65009c309ed7b02ec80816bf4f43370e inherit pub_methods_classArTCM2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65009c309ed7b02ec80816bf4f43370e"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>haveCalibrationM</b> () const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>haveCalibrationV</b> () const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>haveHeading</b> () const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>havePitch</b> () const </td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller. </p>
<p>When a Pioneer robot is equipped with a TCM compass, it is typically connected to the robot microcontroller, which returns compass information in compass data packets upon request (set compass mode/type to 2 or 3 in firmware configuration; mode 1 (data in SIP) is not supported by ARIA). This class communicates with the robot microcontroller to configure the compass and recieve data from it. </p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>ArTCMCompassRobot.h</li>
<li>ArTCMCompassRobot.cpp</li>
</ul>
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